CN113007385B - Soft switching valve with bistable state and adjustable middle position - Google Patents
Soft switching valve with bistable state and adjustable middle position Download PDFInfo
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- CN113007385B CN113007385B CN202110280129.2A CN202110280129A CN113007385B CN 113007385 B CN113007385 B CN 113007385B CN 202110280129 A CN202110280129 A CN 202110280129A CN 113007385 B CN113007385 B CN 113007385B
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- Prior art keywords
- valve
- working gas
- gas circuit
- active
- slave
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- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000007935 neutral effect Effects 0.000 claims description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 9
- 239000000741 silica gel Substances 0.000 description 9
- 229910002027 silica gel Inorganic materials 0.000 description 9
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003205 diastolic effect Effects 0.000 description 1
- 229920005839 ecoflex® Polymers 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004245 inosinic acid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K7/00—Diaphragm valves or cut-off apparatus, e.g. with a member deformed, but not moved bodily, to close the passage ; Pinch valves
- F16K7/12—Diaphragm valves or cut-off apparatus, e.g. with a member deformed, but not moved bodily, to close the passage ; Pinch valves with flat, dished, or bowl-shaped diaphragm
Abstract
The invention discloses a bistable state soft switching valve with an adjustable middle position, which comprises a driving valve body, an upper switching valve base, a lower switching valve base, a valve cover and a switching valve body, wherein the upper switching valve base and the lower switching valve base are positioned at two ends of the switching valve body, the driving valve body is positioned in a cavity in the switching valve body, a spring is arranged in the driving valve body, two ends of a working gas circuit of the driving valve are positioned on the upper switching valve base, a control gas circuit of the driving valve is arranged on the upper switching valve base, the driving valve body is connected with the valve cover, two ends of a working gas circuit of a slave valve are positioned on the lower switching valve base, and the working gas circuit of the slave valve is positioned below the valve cover. The soft actuator has the advantages of better compatibility, simplified control of the soft actuator by the function similar to that of the traditional electromagnetic valve, improved adaptability, reliability and stability, and wide application prospect in the field of pneumatic soft actuators.
Description
Technical Field
The invention relates to a flexible valve, in particular to a bistable state soft switch valve with adjustable middle position, which is used for controlling the movement of a pneumatic soft robot.
Background
The difficulty that most soft pneumatic actuators in recent years meet is that the movement of the soft pneumatic actuators needs to be controlled by an electromagnetic valve and an electronic element, a traditional electromagnetic hard valve is made of metal materials, the mass of the traditional electromagnetic hard valve is large, the burden of the soft pneumatic actuators is increased, the reliability of the soft pneumatic actuators is greatly influenced, the metal hard valve is difficult to integrate in a soft robot, and the hard valve is easy to damage under the severe environment condition or after severe impact. Most of the existing soft valves adopt positive pressure for driving control, and once the air tightness is damaged, the soft valves cannot be normally used. Therefore, it is necessary to develop a new bistable soft switching valve capable of controlling pressure to solve these problems.
Disclosure of Invention
In order to solve the problems in the background art, the present invention aims to provide a bistable soft switch valve with adjustable neutral position, which aims to replace the traditional electromagnetic hard valve and positive pressure soft valve, so that the soft valve can be integrated into a soft robot to control the movement of the soft robot, and the burden of the robot is reduced. The technical proposal is that the method comprises the following steps,
the utility model provides a software ooff valve of adjustable meso position of bistable state, includes that base, ooff valve lower base, valve gap and ooff valve body on the ooff valve body, the base is located the ooff valve body both ends under the ooff valve, the ooff valve body, the initiative valve body is located the inside cavity of ooff valve body, the inside spring that is equipped with of initiative valve body, initiative valve work gas circuit both ends are located the base on the ooff valve, the base is equipped with initiative valve control gas circuit on the ooff valve, initiative valve body and valve gap connection, follow-up valve work gas circuit both ends are located the ooff valve lower base, follow-up valve work gas circuit is located the valve gap below.
Furthermore, a spring is arranged in the valve body of the active valve, and a pre-compression amount is set.
Furthermore, two ends of the working gas circuit of the active valve symmetrically extend to two sides of the upper base of the switch valve.
Furthermore, two ends of the working gas circuit of the servo valve symmetrically extend to two sides of the lower base of the switch valve.
Furthermore, when the active valve control air passage is not pressurized with negative pressure, the spring has precompression quantity, so that the valve cover moves downwards, the working air passage of the slave valve is deformed under the pressure of the valve cover, and at the moment, the working air passage of the slave valve is in a closed state, and the working air passage of the active valve is in an open state.
Further, when the control gas circuit of the active valve is pressurized with negative pressure, the spring is compressed and shortened, the valve cover moves upwards, the valve cover is not in contact with the working gas circuit of the slave valve, the valve cover extrudes the valve body of the active valve to deform the active working gas circuit, the shape of the working gas circuit of the slave valve is recovered, and at the moment, the working gas circuit of the slave valve is in an open state and the working gas circuit of the active valve is in a closed state.
Further, the step of opening the active valve working gas path and the slave valve working gas path by controlling the gas path through the active valve is that when the negative pressure in a certain range is applied to the active valve control gas path, the active valve body contracts, the spring is compressed and shortened, the valve cover vertically moves upwards for a small distance, the valve cover is not in contact with the active valve working gas path, the valve cover is not in contact with the slave valve working gas path, the shape of the slave valve working gas path is recovered, and at the moment, the active valve working gas path and the slave valve working gas path are both in an open state.
The step of closing the active valve working gas path and the slave valve working gas path by controlling the gas path through the active valve is that when negative pressure in a certain range is applied to the active valve control gas path, the valve cover is in contact with the active valve working gas path, the active valve working gas path is deformed under pressure, the valve cover is in contact with the slave valve working gas path, the slave valve working gas path is still in a deformed state under pressure due to small displacement, and the active valve working gas path and the slave valve working gas path are both in a closed state.
Advantageous effects
The bistable pressure-controllable soft switch valve is made of flexible silica gel materials, can be directly integrated in a soft robot, has good compatibility, simplifies the control of a soft actuator by the function similar to that of a traditional electromagnetic valve, improves the adaptability, reliability and stability of the soft actuator, and has wide application prospect in the field of pneumatic soft actuators.
Drawings
FIG. 1 is a perspective view of the present application;
FIG. 2 is a three-dimensional cross-sectional view of the present application;
FIG. 3 is a perspective view of the present application; (omitting switch valve body 8)
FIG. 4 is a schematic diagram of active valve operation;
FIG. 5 is a schematic diagram of spool valve operation;
fig. 6 is a schematic diagram of the working state of the bistable pressure-controllable soft switching valve.
In the figure: 1. the control device comprises a driving valve control gas circuit, 2, a switch valve upper base, 3, a driving valve working gas circuit, 4, a spring, 5, a driving valve body, 6, a valve cover, 7, a follow-up valve working gas circuit, 8, a switch valve body and 9, a switch valve lower base.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application.
The utility model provides a software ooff valve of adjustable meso position of bistable state, includes base 2, ooff valve lower base 9, valve gap 6 and ooff valve body 8 on the ooff valve body 5, ooff valve, base 2, ooff valve lower base 9 are fixed at ooff valve body 8 both ends on the ooff valve, and the control gas circuit of initiative 1 is fixed on the ooff valve on base 2 and is linked together with the ooff valve body 5 of initiative, the valve body of initiative 5 is arranged in the inside cavity of ooff valve body 8, and the valve opening is passed at the 7 both ends of initiative working gas circuit 3 and slave valve working gas circuit and is passed the valve opening and extend to ooff valve on base 2 and ooff valve lower base 9 both sides respectively the symmetry, for guaranteeing the ooff valve gas tightness, splices in valve base 2 and initiative working valve working 3 in valve opening department. Half volume of the spring 4 is embedded in the driving valve body 5, and a pre-compression amount is set (the driving valve body 5 is added with a die containing the spring 4 when silica gel is poured). The driving valve body 5 is glued with the valve cover 6, and the slave valve working air passage 7 is positioned below the valve cover 6.
The active valve working gas circuit 3 and the slave valve working gas circuit 7 are balloons which are inflated before deformation and are triangular after deformation, as shown in fig. 4 and 5.
As shown in fig. 2, which is a working schematic diagram of the active valve, when the active valve control air passage 1 is not pressurized with negative pressure, the active valve working air passage 3 is in an open state, the active valve body 5 is in a diastolic state, the valve cover 6 is vertically displaced downward, the valve cover 6 is not in contact with the active valve working air passage 3, and the active valve working air passage 3 is not deformed; when the active valve control gas circuit 1 adds the negative pressure, the pressure reduces in the active valve, and the active valve body 5 contracts, and spring 4 shortens by compressing, and the vertical upwards displacement of valve gap 6, valve gap 6 and active valve working gas circuit 3 contact, and active valve working gas circuit 3 pressurized deformation, active valve working gas circuit 3 was the closed condition this moment.
As shown in fig. 3, when the negative pressure is not applied to the active valve control air passage 1, a vertical downward force is applied to the valve cover 6 due to the pre-compression amount of the spring 4, the valve cover 6 vertically moves downward, the slave valve working air passage 7 deforms under the pressure of the valve cover 6, and the slave valve working air passage 7 is closed. When the active valve control gas circuit 1 adds negative pressure, the spring 4 is compressed and shortened, the valve cover 6 vertically moves upwards, the valve cover 6 is not in contact with the slave valve working gas circuit 7, the shape of the slave valve working gas circuit 7 is recovered, and the slave valve working gas circuit 7 is in an open state at the moment.
As shown in FIG. 4, the soft switching valve can have 4 states. The state 1 is a normal state in which the active valve control gas circuit 1 is not pressurized, at the moment, the active valve working gas circuit 3 is in an open state, and the slave valve working gas circuit 7 is in a closed state. The state 2 is the state when the soft active valve control gas circuit 1 adds negative pressure, at this moment, the active valve working gas circuit 3 is in the closed state, and the slave valve working gas circuit 7 is in the open state. The state 1 and the state 2 are the stable states of the soft switching valve.
The state 3 and the state 4 can be obtained by changing the lengths of the active valve working gas circuit 3 and the slave valve working gas circuit 7 respectively. States 3 and 4 are neutral states of the soft switching valve and occur when switching between states 1 and 2. For example, the length of the working gas path 7 of the slave valve is reduced, a state 3 can be obtained, at the moment, a smaller negative pressure is added to the driving valve control gas path 1, the driving valve body 5 contracts, the spring 4 is compressed and shortened, the valve cover 6 vertically moves upwards for a smaller distance, the valve cover 6 is not in contact with the working gas path 3 of the driving valve, the valve cover 6 is not in contact with the working gas path 7 of the slave valve, the shape of the working gas path 7 of the slave valve is restored, and at the moment, the working gas path 3 of the driving valve and the working gas path 7 of the slave valve are both in an open state; for example, when the length of the active valve working gas circuit 3 is increased, a state 4 can be obtained, at the moment, a smaller negative pressure is added to the active valve working gas circuit 1, the active valve body 5 contracts, the spring 4 is compressed to be shortened, the valve cover 6 vertically displaces upwards for a smaller distance, the valve cover 6 is in contact with the active valve working gas circuit 3, the active valve working gas circuit 3 deforms under pressure, the valve cover 6 is in contact with the slave valve working gas circuit 7, the displacement is smaller, the slave valve working gas circuit 7 is still in a deformation state under pressure, and at the moment, the active valve working gas circuit 3 and the slave valve working gas circuit 7 are both in a closed state.
The soft switch valve structure controls the opening and closing of a driving valve working gas circuit 3 and a servo valve working gas circuit 7 through a driving valve control gas circuit 1, and further realizes the control of the bistable controllable pressure of high-pressure low-flow gas by using low pressure.
In the specific implementation, the bistable pressure-controllable soft switch valve is made of flexible materials. The upper base 2, the valve cover 6, the valve body 8 and the lower base 9 of the switch valve are made of silica gel materials with high hardness, such as E630 silica gel; the active valve control gas circuit 1, the active valve working gas circuit 3 and the slave valve working gas circuit 7 are made of silica gel materials with lower hardness (such as Dragon Skin 10NV silica gel). The active valve body 5 is made of a silica gel material with moderate hardness (such as Ecoflex 30 silica gel).
In specific implementation, when no external condition interference exists and no new control signal is input into the active valve control gas circuit 1, the opening and closing conditions of the bistable pressure-controllable soft switching valve working pipeline can be always kept at the last control position, and the memory is realized.
In the concrete implementation, the shape of the deformation of initiative valve working gas circuit 3, the servo valve working gas circuit 7 pressurized production can be controlled, adopts the silica gel material mixture of two kinds of hardness to pour in the working gas circuit preparation for the working gas circuit has the great section of hardness and the less section of hardness, and then deformation all takes place from the less section of hardness at every turn when the pressurized, increases the reliability and the stability of software ooff valve.
In specific implementation, the compression amount of the spring 4 and the valve body 5 of the active valve can be controlled by adjusting the negative pressure of the active valve control gas circuit 1, so that the deformation degree of the active valve working gas circuit 3 and the slave valve working gas circuit 7 is controlled, and the purpose of controlling the airflow flow of the active valve working gas circuit 3 or the slave valve working gas circuit 7 is achieved.
In specific implementation, the bistable pressure-controllable soft switch valve adopts the structural design of a double-layer valve body of a switch valve body and a driving valve body and adopts negative pressure to drive, so that the stability and the reliability of the valve are improved. Even in a severe environment, the phenomenon that one layer of valve body is damaged and loses air tightness is caused, and the switch valve can still normally control the air passage. And secondly, negative pressure driving is adopted, so that even if the two layers of valve bodies are damaged, normal control of the gas circuit of the switch valve can be realized by increasing the pressure of the negative pressure.
The specific implementation process of the invention is as follows:
the opening and closing of a driving valve working gas circuit 3 and a slave valve working gas circuit 7 are controlled by a driving valve control gas circuit 1. Under the normal condition that the soft switching valve is not pressurized, namely, the state 1 in fig. 6, because the spring 4 has precompression quantity, a vertical downward force can be generated on the valve cover 6, the valve cover 6 vertically moves downwards, the working gas circuit 7 of the slave valve is deformed under the pressure of the valve cover 6, the valve cover 6 is not in contact with the working gas circuit 3 of the master valve, the working gas circuit 3 of the master valve is not deformed, at the moment, the working gas circuit 3 of the master valve is in an opening state, and the working gas circuit 7 of the slave valve is in a closing state.
Under the condition that the soft switching valve is added with negative pressure, namely the state 2 in fig. 6, the pressure in the working gas path 3 of the driving valve is reduced, the valve body 5 of the driving valve is contracted, the spring 4 is compressed and shortened, the valve cover 6 vertically moves upwards, the valve cover 6 is in contact with the working gas path 3 of the driving valve, the working gas path 3 of the driving valve is compressed and deformed, the valve cover 6 is separated from the working gas path 7 of the slave valve, the shape of the working gas path 7 of the slave valve is recovered, at the moment, the working gas path 3 of the driving valve is in a closed state, and the working gas path 7 of the slave valve is in an open state.
In the process of pressurization and pressure relief, the pipeline lengths of the working gas circuit 3 of the driving valve and the working gas circuit 7 of the driven valve can be changed, and then the middle state, namely the state 3 and the state 4 in the figure 6 can be obtained. For example, the length of the working gas path 7 of the slave valve is reduced, and a state 3 shown in fig. 6 can be obtained, at the moment, a small negative pressure is applied to the soft switching valve, the valve body 5 of the master valve contracts, the spring 4 is compressed and shortened, the valve cover 6 vertically and upwards displaces for a small distance, the valve cover 6 is not in contact with the working gas path 3 of the master valve, the valve cover 6 is not in contact with the working gas path 7 of the slave valve, the shape of the working gas path 7 of the slave valve is restored, and the working gas path 3 of the master valve and the working gas path 7 of the slave valve are both in an open state; for example, the length of the active valve working gas path 3 is increased, a state 4 shown in fig. 6 can be obtained, at the moment, a smaller negative pressure is applied to the soft switching valve, the active valve body 5 contracts, the spring 4 is compressed to be shortened, the valve cover 6 vertically moves upwards for a smaller distance, the valve cover 6 is in contact with the active valve working gas path 3, the active valve working gas path 3 is deformed under pressure, the valve cover 6 is in contact with the slave valve working gas path 7, the slave valve working gas path 7 is still in a deformed state under pressure due to smaller displacement, and the active valve working gas path 3 and the slave valve working gas path 7 are both in a closed state.
In the embodiment, the negative pressure is used for controlling the lengths of the active valve working gas circuit 3 and the slave valve working gas circuit 7, and the positive pressure can be used for realizing the function.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. A bistable state soft switching valve with an adjustable middle position is characterized by comprising a driving valve body, an upper switching valve base, a lower switching valve base, a valve cover and a switching valve body, wherein the upper switching valve base and the lower switching valve base are arranged at two ends of the switching valve body; the two ends of the working gas circuit of the active valve are positioned on the upper base of the switch valve, the upper base of the switch valve is provided with a control gas circuit of the active valve, the valve body of the active valve is connected with the valve cover, the two ends of the working gas circuit of the slave valve are positioned on the lower base of the switch valve, and the working gas circuit of the slave valve is positioned below the valve cover;
the method comprises the steps that when the active valve control gas circuit controls the active valve working gas circuit and the slave valve working gas circuit to be opened, when negative pressure in a certain range is applied to the active valve control gas circuit, the active valve body contracts, the spring is compressed to be shortened, the valve cover vertically moves upwards for a small distance, the valve cover is not in contact with the active valve working gas circuit, the valve cover is not in contact with the slave valve working gas circuit, the shape of the slave valve working gas circuit is recovered, and at the moment, the active valve working gas circuit and the slave valve working gas circuit are both in an opening state.
2. The bistable soft switching valve with adjustable neutral position according to claim 1, wherein the two ends of the active valve working air passage extend symmetrically to the two sides of the upper base of the switching valve.
3. The bistable soft switching valve with adjustable neutral position according to claim 1, wherein the two ends of the working gas path of the spool valve extend symmetrically to the two sides of the lower base of the switching valve.
4. The bistable soft switching valve with adjustable middle position according to claim 1, wherein when no negative pressure is applied to the active valve control circuit, the spring has a pre-compression amount to move the valve cap downward, the working circuit of the slave valve is deformed by the pressure of the valve cap, and at this time, the working circuit of the slave valve is in a closed state and the working circuit of the active valve is in an open state.
5. The bistable soft switching valve with adjustable middle position according to claim 1, wherein when negative pressure is applied to the active valve control gas path, the spring is compressed and shortened, the valve cover moves upward, the valve cover does not contact the slave valve working gas path, the valve cover presses the active valve body to deform the active valve working gas path, the shape of the slave valve working gas path is restored, and at this time, the slave valve working gas path is in an open state and the active valve working gas path is in a closed state.
6. The bistable soft switch valve with adjustable middle position according to claim 1, wherein the step of closing the active valve control gas circuit and the slave valve control gas circuit is that when a certain range of negative pressure is applied to the active valve control gas circuit, the valve cover contacts with the active valve working gas circuit, the active valve working gas circuit deforms under pressure, the valve cover contacts with the slave valve working gas circuit, the slave valve working gas circuit is still in a deformed state under pressure due to small displacement, and the active valve working gas circuit and the slave valve working gas circuit are both in a closed state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110280129.2A CN113007385B (en) | 2021-03-16 | 2021-03-16 | Soft switching valve with bistable state and adjustable middle position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110280129.2A CN113007385B (en) | 2021-03-16 | 2021-03-16 | Soft switching valve with bistable state and adjustable middle position |
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| Publication Number | Publication Date |
|---|---|
| CN113007385A CN113007385A (en) | 2021-06-22 |
| CN113007385B true CN113007385B (en) | 2022-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110280129.2A Expired - Fee Related CN113007385B (en) | 2021-03-16 | 2021-03-16 | Soft switching valve with bistable state and adjustable middle position |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1414618A1 (en) * | 1985-12-20 | 1988-08-07 | Конструкторско-технологическое бюро "Мосоргстройматериалы" | Module of industrial robot |
| GB9515179D0 (en) * | 1994-08-01 | 1995-09-20 | Merck & Co Inc | Gripping apparatus |
| CN1550700A (en) * | 2003-05-13 | 2004-12-01 | ������������ʽ���� | Pipe valve,pipe valve device and head cleaning device |
| CN109027335A (en) * | 2018-09-06 | 2018-12-18 | 浙江大学 | A kind of micro one-way valve |
| CN109185554A (en) * | 2018-09-30 | 2019-01-11 | 浙江大学 | A kind of miniature flexible valve of voice coil driving |
| CN110425319A (en) * | 2019-08-27 | 2019-11-08 | 上海大学 | A kind of pressure relief valve body of flexibility binary channels control |
-
2021
- 2021-03-16 CN CN202110280129.2A patent/CN113007385B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1414618A1 (en) * | 1985-12-20 | 1988-08-07 | Конструкторско-технологическое бюро "Мосоргстройматериалы" | Module of industrial robot |
| GB9515179D0 (en) * | 1994-08-01 | 1995-09-20 | Merck & Co Inc | Gripping apparatus |
| CN1550700A (en) * | 2003-05-13 | 2004-12-01 | ������������ʽ���� | Pipe valve,pipe valve device and head cleaning device |
| CN109027335A (en) * | 2018-09-06 | 2018-12-18 | 浙江大学 | A kind of micro one-way valve |
| CN109185554A (en) * | 2018-09-30 | 2019-01-11 | 浙江大学 | A kind of miniature flexible valve of voice coil driving |
| CN110425319A (en) * | 2019-08-27 | 2019-11-08 | 上海大学 | A kind of pressure relief valve body of flexibility binary channels control |
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| CN113007385A (en) | 2021-06-22 |
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Granted publication date: 20220304 |